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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
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<div class="title">pcl::ExtractPolygonalPrismData&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html" title="ExtractPolygonalPrismData uses a set of point indices that represent a planar model,...">ExtractPolygonalPrismData</a></b> uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it.  
 <a href="classpcl_1_1_extract_polygonal_prism_data.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="extract__polygonal__prism__data_8h_source.html">extract_polygonal_prism_data.h</a>&gt;</code></p>
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类 pcl::ExtractPolygonalPrismData&lt; PointT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1_extract_polygonal_prism_data.png" usemap="#pcl::ExtractPolygonalPrismData_3C_20PointT_20_3E_map" alt=""/>
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<area href="classpcl_1_1_p_c_l_base.html" title="PCL base class. Implements methods that are used by most PCL algorithms." alt="pcl::PCLBase&lt; PointT &gt;" shape="rect" coords="0,0,246,24"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a655808ab1cc7e94d43a9b42f96a82cc7"><td class="memItemLeft" align="right" valign="top"><a id="a655808ab1cc7e94d43a9b42f96a82cc7"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a655808ab1cc7e94d43a9b42f96a82cc7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adfbe72c4353e2491f167b1fd0a7577f5"><td class="memItemLeft" align="right" valign="top"><a id="adfbe72c4353e2491f167b1fd0a7577f5"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef PointIndices::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef PointIndices::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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<tr class="memitem:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ab84dd662cda89edb882fe5307b2136ea"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a23798a0913b7df94cbd75d87d4a43135"><td class="memItemLeft" align="right" valign="top"><a id="a23798a0913b7df94cbd75d87d4a43135"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#a23798a0913b7df94cbd75d87d4a43135">ExtractPolygonalPrismData</a> ()</td></tr>
<tr class="memdesc:a23798a0913b7df94cbd75d87d4a43135"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a23798a0913b7df94cbd75d87d4a43135"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f279da407d086a7e2331c6937cd6442"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#a2f279da407d086a7e2331c6937cd6442">setInputPlanarHull</a> (const PointCloudConstPtr &amp;hull)</td></tr>
<tr class="memdesc:a2f279da407d086a7e2331c6937cd6442"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input planar hull dataset.  <a href="classpcl_1_1_extract_polygonal_prism_data.html#a2f279da407d086a7e2331c6937cd6442">更多...</a><br /></td></tr>
<tr class="separator:a2f279da407d086a7e2331c6937cd6442"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d2cdeda1039b127838e4c34dfc79e94"><td class="memItemLeft" align="right" valign="top"><a id="a1d2cdeda1039b127838e4c34dfc79e94"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#a1d2cdeda1039b127838e4c34dfc79e94">getInputPlanarHull</a> () const</td></tr>
<tr class="memdesc:a1d2cdeda1039b127838e4c34dfc79e94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer the input planar hull dataset. <br /></td></tr>
<tr class="separator:a1d2cdeda1039b127838e4c34dfc79e94"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c2c7ddadfc5793ba8a16759556a5c39"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#a2c2c7ddadfc5793ba8a16759556a5c39">setHeightLimits</a> (double height_min, double height_max)</td></tr>
<tr class="memdesc:a2c2c7ddadfc5793ba8a16759556a5c39"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the height limits. All points having distances to the model outside this interval will be discarded.  <a href="classpcl_1_1_extract_polygonal_prism_data.html#a2c2c7ddadfc5793ba8a16759556a5c39">更多...</a><br /></td></tr>
<tr class="separator:a2c2c7ddadfc5793ba8a16759556a5c39"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a43d42328b929eabb15b09e315fc947e6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#a43d42328b929eabb15b09e315fc947e6">getHeightLimits</a> (double &amp;height_min, double &amp;height_max) const</td></tr>
<tr class="memdesc:a43d42328b929eabb15b09e315fc947e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the height limits (min/max) as set by the user. The default values are -FLT_MAX, FLT_MAX.  <a href="classpcl_1_1_extract_polygonal_prism_data.html#a43d42328b929eabb15b09e315fc947e6">更多...</a><br /></td></tr>
<tr class="separator:a43d42328b929eabb15b09e315fc947e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4fa1021fc133bfdf303853e9c06cd80"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#ab4fa1021fc133bfdf303853e9c06cd80">setViewPoint</a> (float vpx, float vpy, float vpz)</td></tr>
<tr class="memdesc:ab4fa1021fc133bfdf303853e9c06cd80"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the viewpoint.  <a href="classpcl_1_1_extract_polygonal_prism_data.html#ab4fa1021fc133bfdf303853e9c06cd80">更多...</a><br /></td></tr>
<tr class="separator:ab4fa1021fc133bfdf303853e9c06cd80"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45873d76dc3d6ac17e8869f4ecf94efd"><td class="memItemLeft" align="right" valign="top"><a id="a45873d76dc3d6ac17e8869f4ecf94efd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#a45873d76dc3d6ac17e8869f4ecf94efd">getViewPoint</a> (float &amp;vpx, float &amp;vpy, float &amp;vpz) const</td></tr>
<tr class="memdesc:a45873d76dc3d6ac17e8869f4ecf94efd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the viewpoint. <br /></td></tr>
<tr class="separator:a45873d76dc3d6ac17e8869f4ecf94efd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb87a3bf0a0bf17458e197409f2210aa"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#afb87a3bf0a0bf17458e197409f2210aa">segment</a> (<a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;output)</td></tr>
<tr class="memdesc:afb87a3bf0a0bf17458e197409f2210aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Cluster extraction in a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> given by &lt;setInputCloud (), setIndices ()&gt;  <a href="classpcl_1_1_extract_polygonal_prism_data.html#afb87a3bf0a0bf17458e197409f2210aa">更多...</a><br /></td></tr>
<tr class="separator:afb87a3bf0a0bf17458e197409f2210aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a6c7ec65a6f5fa079301ecd02ef888f10"><td class="memItemLeft" align="right" valign="top"><a id="a6c7ec65a6f5fa079301ecd02ef888f10"></a>
virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#a6c7ec65a6f5fa079301ecd02ef888f10">getClassName</a> () const</td></tr>
<tr class="memdesc:a6c7ec65a6f5fa079301ecd02ef888f10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class getName method. <br /></td></tr>
<tr class="separator:a6c7ec65a6f5fa079301ecd02ef888f10"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
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<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:af3473a7cfe42f28e64a377c98997c15e"><td class="memItemLeft" align="right" valign="top"><a id="af3473a7cfe42f28e64a377c98997c15e"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a></td></tr>
<tr class="memdesc:af3473a7cfe42f28e64a377c98997c15e"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the input planar hull dataset. <br /></td></tr>
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<tr class="memitem:a46d257ff7975a11054b662ae2ffc311f"><td class="memItemLeft" align="right" valign="top"><a id="a46d257ff7975a11054b662ae2ffc311f"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#a46d257ff7975a11054b662ae2ffc311f">min_pts_hull_</a></td></tr>
<tr class="memdesc:a46d257ff7975a11054b662ae2ffc311f"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum number of points needed on the convex hull. <br /></td></tr>
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<tr class="memitem:a5f096b57bc27c63fc10a3078a291eff5"><td class="memItemLeft" align="right" valign="top"><a id="a5f096b57bc27c63fc10a3078a291eff5"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#a5f096b57bc27c63fc10a3078a291eff5">height_limit_min_</a></td></tr>
<tr class="memdesc:a5f096b57bc27c63fc10a3078a291eff5"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum allowed height (distance to the model) a point will be considered from. <br /></td></tr>
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<tr class="memitem:ae2ccf9efec96563ddd57eb93c0156c02"><td class="memItemLeft" align="right" valign="top"><a id="ae2ccf9efec96563ddd57eb93c0156c02"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#ae2ccf9efec96563ddd57eb93c0156c02">height_limit_max_</a></td></tr>
<tr class="memdesc:ae2ccf9efec96563ddd57eb93c0156c02"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum allowed height (distance to the model) a point will be considered from. <br /></td></tr>
<tr class="separator:ae2ccf9efec96563ddd57eb93c0156c02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab309db5d51a67a64da99a83cc326f4b4"><td class="memItemLeft" align="right" valign="top"><a id="ab309db5d51a67a64da99a83cc326f4b4"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html#ab309db5d51a67a64da99a83cc326f4b4">vpx_</a></td></tr>
<tr class="memdesc:ab309db5d51a67a64da99a83cc326f4b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Values describing the data acquisition viewpoint. Default: 0,0,0. <br /></td></tr>
<tr class="separator:ab309db5d51a67a64da99a83cc326f4b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08567158168546928b1d06c08707cb9d"><td class="memItemLeft" align="right" valign="top"><a id="a08567158168546928b1d06c08707cb9d"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>vpy_</b></td></tr>
<tr class="separator:a08567158168546928b1d06c08707cb9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac29c4fbb6c7afd295a5e990edef0693e"><td class="memItemLeft" align="right" valign="top"><a id="ac29c4fbb6c7afd295a5e990edef0693e"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>vpz_</b></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
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<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::ExtractPolygonalPrismData&lt; PointT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html" title="ExtractPolygonalPrismData uses a set of point indices that represent a planar model,...">ExtractPolygonalPrismData</a></b> uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it. </p>
<p>An example of its usage is to extract the data lying within a set of 3D boundaries (e.g., objects supported by a plane).</p>
<p>Example usage: </p><div class="fragment"><div class="line"><span class="keywordtype">double</span> z_min = 0., z_max = 0.05; <span class="comment">// we want the points above the plane, no farther than 5 cm from the surface</span></div>
<div class="line">pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr hull_points (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a> ());</div>
<div class="line">pcl::ConvexHull&lt;pcl::PointXYZ&gt; hull;</div>
<div class="line"><span class="comment">// hull.setDimension (2); // not necessarily needed, but we need to check the dimensionality of the output</span></div>
<div class="line">hull.setInputCloud (cloud);</div>
<div class="line">hull.reconstruct (hull_points);</div>
<div class="line"><span class="keywordflow">if</span> (hull.getDimension () == 2)</div>
<div class="line">{</div>
<div class="line">  <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html">pcl::ExtractPolygonalPrismData&lt;pcl::PointXYZ&gt;</a> prism;</div>
<div class="line">  prism.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (point_cloud);</div>
<div class="line">  prism.<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#a2f279da407d086a7e2331c6937cd6442">setInputPlanarHull</a> (hull_points);</div>
<div class="line">  prism.<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#a2c2c7ddadfc5793ba8a16759556a5c39">setHeightLimits</a> (z_min, z_max);</div>
<div class="line">  prism.<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#afb87a3bf0a0bf17458e197409f2210aa">segment</a> (cloud_indices);</div>
<div class="line">}</div>
<div class="line"><span class="keywordflow">else</span></div>
<div class="line"> PCL_ERROR (<span class="stringliteral">&quot;The input cloud does not represent a planar surface.\n&quot;</span>);</div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html">pcl::ExtractPolygonalPrismData</a></div><div class="ttdoc">ExtractPolygonalPrismData uses a set of point indices that represent a planar model,...</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_a2c2c7ddadfc5793ba8a16759556a5c39"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#a2c2c7ddadfc5793ba8a16759556a5c39">pcl::ExtractPolygonalPrismData::setHeightLimits</a></div><div class="ttdeci">void setHeightLimits(double height_min, double height_max)</div><div class="ttdoc">Set the height limits. All points having distances to the model outside this interval will be discard...</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_a2f279da407d086a7e2331c6937cd6442"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#a2f279da407d086a7e2331c6937cd6442">pcl::ExtractPolygonalPrismData::setInputPlanarHull</a></div><div class="ttdeci">void setInputPlanarHull(const PointCloudConstPtr &amp;hull)</div><div class="ttdoc">Provide a pointer to the input planar hull dataset.</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.h:128</div></div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_afb87a3bf0a0bf17458e197409f2210aa"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#afb87a3bf0a0bf17458e197409f2210aa">pcl::ExtractPolygonalPrismData::segment</a></div><div class="ttdeci">void segment(PointIndices &amp;output)</div><div class="ttdoc">Cluster extraction in a PointCloud given by &lt;setInputCloud (), setIndices ()&gt;</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.hpp:148</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZ &gt;</a></div></div>
</div><!-- fragment --> <dl class="section author"><dt>作者</dt><dd>Radu Bogdan Rusu </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a43d42328b929eabb15b09e315fc947e6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a43d42328b929eabb15b09e315fc947e6">&#9670;&nbsp;</a></span>getHeightLimits()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html">pcl::ExtractPolygonalPrismData</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getHeightLimits </td>
          <td>(</td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>height_min</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>height_max</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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<p>Get the height limits (min/max) as set by the user. The default values are -FLT_MAX, FLT_MAX. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">height_min</td><td>the resultant min height limit </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">height_max</td><td>the resultant max height limit </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        height_min = <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#a5f096b57bc27c63fc10a3078a291eff5">height_limit_min_</a>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        height_max = <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#ae2ccf9efec96563ddd57eb93c0156c02">height_limit_max_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_a5f096b57bc27c63fc10a3078a291eff5"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#a5f096b57bc27c63fc10a3078a291eff5">pcl::ExtractPolygonalPrismData::height_limit_min_</a></div><div class="ttdeci">double height_limit_min_</div><div class="ttdoc">The minimum allowed height (distance to the model) a point will be considered from.</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_ae2ccf9efec96563ddd57eb93c0156c02"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#ae2ccf9efec96563ddd57eb93c0156c02">pcl::ExtractPolygonalPrismData::height_limit_max_</a></div><div class="ttdeci">double height_limit_max_</div><div class="ttdoc">The maximum allowed height (distance to the model) a point will be considered from.</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.h:202</div></div>
</div><!-- fragment -->
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<h2 class="memtitle"><span class="permalink"><a href="#afb87a3bf0a0bf17458e197409f2210aa">&#9670;&nbsp;</a></span>segment()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html">pcl::ExtractPolygonalPrismData</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::segment </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Cluster extraction in a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> given by &lt;setInputCloud (), setIndices ()&gt; </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the resultant point indices that support the model found (inliers) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;{</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  output.header = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;header;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ())</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    output.indices.clear ();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>-&gt;points.size ()) &lt; <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#a46d257ff7975a11054b662ae2ffc311f">min_pts_hull_</a>)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::segment] Not enough points (%lu) in the hull!\n&quot;</span>, <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#a6c7ec65a6f5fa079301ecd02ef888f10">getClassName</a> ().c_str (), <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    output.indices.clear ();</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="comment">// Compute the plane coefficients</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  Eigen::Vector4f model_coefficients;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (*<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>, covariance_matrix, xyz_centroid);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="comment">// Compute the model coefficients</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">eigen33</a> (covariance_matrix, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  model_coefficients[0] = eigen_vector [0];</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  model_coefficients[1] = eigen_vector [1];</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  model_coefficients[2] = eigen_vector [2];</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  model_coefficients[3] = 0;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  model_coefficients[3] = -1 * model_coefficients.dot (xyz_centroid);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="comment">// Need to flip the plane normal towards the viewpoint</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  Eigen::Vector4f vp (<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#ab309db5d51a67a64da99a83cc326f4b4">vpx_</a>, vpy_, vpz_, 0);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="comment">// See if we need to flip any plane normals</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  vp -= <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>-&gt;points[0].getVector4fMap ();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  vp[3] = 0;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="comment">// Dot product between the (viewpoint - point) and the plane normal</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordtype">float</span> cos_theta = vp.dot (model_coefficients);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="comment">// Flip the plane normal</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keywordflow">if</span> (cos_theta &lt; 0)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    model_coefficients *= -1;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    model_coefficients[3] = 0;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    model_coefficients[3] = -1 * (model_coefficients.dot (<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>-&gt;points[0].getVector4fMap ()));</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="comment">// Project all points</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> projected_points;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  SampleConsensusModelPlane&lt;PointT&gt; sacmodel (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  sacmodel.projectPoints (*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>, model_coefficients, projected_points, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="comment">// Create a X-Y projected representation for within bounds polygonal checking</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordtype">int</span> k0, k1, k2;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="comment">// Determine the best plane to project points onto</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  k0 = (fabs (model_coefficients[0] ) &gt; fabs (model_coefficients[1])) ? 0  : 1;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  k0 = (fabs (model_coefficients[k0]) &gt; fabs (model_coefficients[2])) ? k0 : 2;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  k1 = (k0 + 1) % 3;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  k2 = (k0 + 2) % 3;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="comment">// Project the convex hull</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> polygon;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    Eigen::Vector4f pt (<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>-&gt;points[i].x, <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>-&gt;points[i].y, <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a>-&gt;points[i].z, 0);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x = pt[k1];</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y = pt[k2];</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z = 0;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> pt_xy;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  pt_xy.z = 0;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  output.indices.resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size ());</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordtype">int</span> l = 0;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="comment">// Check the distance to the user imposed limits from the table planar model</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordtype">double</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = pointToPlaneDistanceSigned (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[(*<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>)[i]], model_coefficients);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordflow">if</span> (distance &lt; height_limit_min_ || distance &gt; <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#ae2ccf9efec96563ddd57eb93c0156c02">height_limit_max_</a>)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">// Check what points are inside the hull</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    Eigen::Vector4f pt (projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x,</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                         projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y,</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                         projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z, 0);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    pt_xy.x = pt[k1];</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    pt_xy.y = pt[k2];</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordflow">if</span> (!pcl::isXYPointIn2DXYPolygon (pt_xy, polygon))</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    output.indices[l++] = (*indices_)[i];</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  output.indices.resize (l);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_a46d257ff7975a11054b662ae2ffc311f"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#a46d257ff7975a11054b662ae2ffc311f">pcl::ExtractPolygonalPrismData::min_pts_hull_</a></div><div class="ttdeci">int min_pts_hull_</div><div class="ttdoc">The minimum number of points needed on the convex hull.</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_a6c7ec65a6f5fa079301ecd02ef888f10"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#a6c7ec65a6f5fa079301ecd02ef888f10">pcl::ExtractPolygonalPrismData::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdoc">Class getName method.</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_ab309db5d51a67a64da99a83cc326f4b4"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#ab309db5d51a67a64da99a83cc326f4b4">pcl::ExtractPolygonalPrismData::vpx_</a></div><div class="ttdeci">float vpx_</div><div class="ttdoc">Values describing the data acquisition viewpoint. Default: 0,0,0.</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_af3473a7cfe42f28e64a377c98997c15e"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">pcl::ExtractPolygonalPrismData::planar_hull_</a></div><div class="ttdeci">PointCloudConstPtr planar_hull_</div><div class="ttdoc">A pointer to the input planar hull dataset.</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_acceb20854934f4cf77e266eb5a44d4f0"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">pcl::PCLBase::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:139</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_afc426c4eebb94b7734d4fa556bff1420"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">pcl::PCLBase::deinitCompute</a></div><div class="ttdeci">bool deinitCompute()</div><div class="ttdoc">This method should get called after finishing the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:174</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &amp;p1, const PointT &amp;p2)</div><div class="ttdef"><b>Definition:</b> geometry.h:60</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2c2c7ddadfc5793ba8a16759556a5c39">&#9670;&nbsp;</a></span>setHeightLimits()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html">pcl::ExtractPolygonalPrismData</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setHeightLimits </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>height_min</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>height_max</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Set the height limits. All points having distances to the model outside this interval will be discarded. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">height_min</td><td>the minimum allowed distance to the plane model value </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height_max</td><td>the maximum allowed distance to the plane model value </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#a5f096b57bc27c63fc10a3078a291eff5">height_limit_min_</a> = height_min;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#ae2ccf9efec96563ddd57eb93c0156c02">height_limit_max_</a> = height_max;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2f279da407d086a7e2331c6937cd6442">&#9670;&nbsp;</a></span>setInputPlanarHull()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html">pcl::ExtractPolygonalPrismData</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setInputPlanarHull </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>hull</em></td><td>)</td>
          <td></td>
        </tr>
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<p>Provide a pointer to the input planar hull dataset. </p>
<dl class="section note"><dt>注解</dt><dd>Please see the example in the class description for how to obtain this. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">hull</td><td>the input planar hull dataset </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;{ <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#af3473a7cfe42f28e64a377c98997c15e">planar_hull_</a> = hull; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab4fa1021fc133bfdf303853e9c06cd80">&#9670;&nbsp;</a></span>setViewPoint()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_extract_polygonal_prism_data.html">pcl::ExtractPolygonalPrismData</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setViewPoint </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>vpx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>vpy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>vpz</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Set the viewpoint. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">vpx</td><td>the X coordinate of the viewpoint </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">vpy</td><td>the Y coordinate of the viewpoint </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">vpz</td><td>the Z coordinate of the viewpoint </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#ab309db5d51a67a64da99a83cc326f4b4">vpx_</a> = vpx;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        vpy_ = vpy;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        vpz_ = vpz;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>segmentation/include/pcl/segmentation/<a class="el" href="extract__polygonal__prism__data_8h_source.html">extract_polygonal_prism_data.h</a></li>
<li>segmentation/include/pcl/segmentation/impl/<a class="el" href="extract__polygonal__prism__data_8hpp_source.html">extract_polygonal_prism_data.hpp</a></li>
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